DYNAMICS OF A 2-DOF ORIENTING GEAR MECHANISM
Journal Title: ROMANIAN JOURNAL OF TECHNICAL SCIENCES - APPLIED MECHANICS - Year 2009, Vol 54, Issue 1
Abstract
Recursive matrix relations for the kinematics and the dynamics analysis of a 2-DOF orienting gear train are established in this paper. The mechanism is a parallel system with five moving links and three bevel gear pairs controlled by two electric motors. Knowing the rotation motion of the end-effector, the inverse dynamics problem is solved using the fundamental principle of virtual work. Finally, some graphs for the input angles of rotation and the powers of the actuators are obtained.
Authors and Affiliations
Ştefan STAICU
Keywords
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